Automated robotic system for handling surgical instruments

ABSTRACT

Systems and methods that process a plurality of surgical instruments for cleaning and/or packaging. A device identifies a robot-ready insert having a predetermined configuration for accepting at least one type of surgical instrument. The surgical instruments are identified and oriented according to type using an automated apparatus. Specialized tools are also provided for automatically opening and closing surgical instruments, flipping instruments and assisting in the processing and maintenance of surgical instruments. The automated apparatus then places each of the surgical instrument types in one or more predetermined areas of the insert, configured to accept a predetermined set of surgical instrument types.

TECHNICAL FIELD

The present disclosure relates to systems, methods and processes forrobotically processing instruments, and more particularly to roboticsystems for handling and processing surgical instruments in sterilesupply environments and the like.

BACKGROUND INFORMATION

Used surgical instruments and related medical devices are typicallyhandled by a Central Sterile Supply (hereafter “CSS”) department withina hospital or other related medical service facility, and is consideredone of the most important service centers of a hospital. The CSSdepartment typically processes used surgical instruments, and othertypes of re-usable medical devices, from a “dirty” or contaminated stateand returns them to a sterile state. Turning to FIG. 4, a conventionalCSS process is illustrated. Containers of instruments are received froma “dirty” side of CSS, where the instruments are unloaded, hand washed401, and cleaned ultrasonically 402 and disinfected 403. Once cleaned,the instruments are counted 404, sorted 405, and packed 406 prior toplacement in a steam sterilizer or autoclave 407. Once a container hasbeen removed from the autoclave, it is then considered sterile and readyto be used.

An exemplary container described in connection with FIG. 4 is furtherillustrated in FIG. 3. Container 317 is typically made of metal, havingthe dimensions 18″(L)×12″(W)×6″(D), for holding dirty instrumentsarriving from an operating room (OR) or other clinical facility. Whilethere are several sizes of containers, all are sized within certainlimits to be able to fit into a standard washing and sterilizingmachines. Container 317 has a cover that is latched in place at each endof the container by a secure and tamper proof mechanism. Containers 317is further equipped with some sort of identifying label or tag 321 on anexterior surface. Tag 321 can be a printed label, barcode or aradio-frequency identification (RFID) tag. Tag 321 is used to associatethe container with a particular count sheet listing its intendedcontents.

Container 317 also includes a tray 318, that fits inside container 317.Tray 318 is typically made of perforated steel or other suitablematerial, to allow fluids and other material to pass through during thevarious stages of the sterilization process. Tray 318 may be configuredto accept dividers or inserts to organize or separate tools, and/or holdthe tools in a particular fashion. Nevertheless, many trays in currentuse do not have inserts, but use stringers 320 as their primeorganizational tool. As can be seen from the illustration in FIG. 3,stringer 320 is a U-shaped rod that is typically made of steel. Thelength of the “U” for stringer 320 runs through both finger loops of asuitable instrument, such as scissors or hemostats. Typically, stringer320 is equipped with a means for closing off the top of the “U” toprevent the instruments from sliding off. When preparing instruments 319for sterilizing, trays 318, inserts (not shown), stringers 320 andinstruments 319 are placed inside of container 317 or alternatelywrapped up in a special wrapping paper-like material.

As is known in the art, handheld surgical instruments 319 are typicallymade of stainless steel, though other materials may be equally suitable.Standard instruments include scissors, tweezer-like graspers, latchinggraspers (“hemostats”), and retractors of various shapes.

A large number of surgical instruments also contain a ratchet lock,typically with instruments having a finger ring configuration. Ratchetsare located between each finger ring and the shank. The ratchets aresmooth on one side and toothed on the other, and are often configured tohave three “teeth”, where, when the instrument is closed, the toothedsides interlock. Thus, to close the instrument, the finger rings aredrawn together and the jaws of the instrument meet before the teeth ofthe ratchet lock. Once the jaws meet, force must be applied to overcomethe strength of the shafts and engage the teeth. Engagement of eachsuccessive tooth requires greater force. To open the instrument, firstthe ratchet must be disengaged. This is done by forcing the finger ringsin the directions normal to their respective smooth sides of theratchet. Once the teeth are separated, the finger rings should be movedapart to prevent reengagement of the teeth upon relaxation of the force.

Referring back to FIGS. 3 and 4, a conventional sterile supply processwill be described in greater detail below. As an overview, the CSSprocess may be summarized chronologically as follows:

-   -   unload tray or container from the operating room (OR);    -   identify instruments;    -   open the instruments;    -   clean the instruments by hand;    -   process tray through ultrasonic cleaner;    -   flip the orientation of instruments as required;    -   arrange the instruments so they can be properly cleaned in the        washer/disinfector;    -   process tray through washer/disinfector;    -   inspect for cleanliness;    -   inspect for mechanical integrity (i.e. no parts chipped, bent,        missing or damaged);    -   inspect for functionality;    -   pull defective or unclean instruments;    -   lubricate appropriate equipment;    -   sharpen appropriate equipment;    -   demagnetize appropriate equipment;    -   replenish missing or defective instruments;    -   sort instruments and/or equipment;    -   count instruments and/or equipment;    -   pack appropriate instruments back onto stringers and/or tray;    -   document instruments and/or equipment on count sheet;    -   wrap the tray; and    -   update the hospital inventory system.

After a surgical procedure, dirty instruments are sent to CSS with theintention of sterilizing and repackaging them for future use. Thus, thefirst step in the sterilization process is decontamination. Typically, adepartment worker opens a container and finds a tray with dirty,disorganized instruments. Each instrument is then manually washed orscrubbed (401). The purpose of this manual process is to physicallyremove deposits and to break up biofilms (such as dried blood) that maybe adherent to the instruments.

At this point, the looped instruments are either thrown haphazardly backinto the tray in an extreme open position, or they are placed on anextra wide stringer (320) that holds the instruments in the extreme opencondition (i.e. as far as the instrument is physically capable ofopening). The purpose of having them open is to expose the innersurfaces of the box lock hinge as much as possible, for cleaning andwashing purposes. Other instruments such as retractors, which do notrequire opening, may also be thrown in at this point.

After the hand cleaning, the instruments proceed through a variety ofrinsing and soaking procedures or baths. These baths may includeultrasonic cleaners or enzymatic solutions (402).

The instruments are then placed in a washer/disinfector (403),essentially a dishwasher for instruments where the instrument is cleanedby water impingement and detergent. These special-purpose dishwashershave a rotating spray bar which emits high pressure water and detergentspray to clean the instruments by impingement of the water jets on theinstrument surfaces. It is optimal to have the looped instruments heldin a wide open stance for this step to expose the critical locations onthe instrument which may otherwise be obscured from the water jets.

When the instruments leave the washer/disinfector, they are considereddecontaminated. Further processing continues on what is called the“clean” side of CSS (see FIG. 4). Here the instruments are inspected,counted 404, sorted 405, and repacked 406 into their containers. At thispoint, instruments are inspected for damage and to ensure that they arefunctioning properly. Thus, for example, a looped instrument's hingingmechanism must move freely, and cutting tools must be sufficientlysharp. Any broken or damaged instruments should be pulled from the setand either discarded or sent for maintenance. Some instruments alsorequire routine maintenance such as lubrication, sharpening, ordemagnetizing. These simple maintenance functions may be performed byCSS personnel at this time.

During the count and sort process (404, 405), the instruments in thecontainer are compared to its count sheet. A count sheet specifies thetype and quantity of each instrument to be included in the container.The count generated in CSS will form the basis for the count in theoperating room (OR). During a procedure the surgical staff must maintainan accurate count of all the instruments to ensure none areinadvertently left behind in the patient. A mistake in the originalcount from CSS can significantly complicate the count in the OR. Forexample, an undercount in CSS can contribute to an instrument beingerroneously left in the body cavity. On the other hand, an over-countcan contribute to a false alarm, giving the erroneous appearance that aninstrument is missing. Accordingly, the surgical team must search forthe nonexistent instrument, prolonging the procedure and the time thepatient is under anesthesia.

Many CSS facilities still rely on paper for their count sheets. CSSfacilities that are beginning to incorporate automated systems utilizesoftware and/or instrument barcodes to help automate the process.Nevertheless, in either case, conventional CSS processes are still timeconsuming and error prone tasks.

As part of the sorting process, looped instruments are manually placedon a standard width stringer, so that similar instruments are adjacentto one another and preferably arranged largest to smallest in size. Thestandard width stringer holds the instruments in a nearly closed butun-ratcheted position, which is referred to in the art as a “soft”close. The non-looped instruments, such as retractors, are arranged onthe bottom of the tray. The stringer full of instruments is placed intothe tray, and the tray is placed into a container. The CSS worker willtypically sign the count sheet and place it into the container with thetray. The container is then latched and ready for the sterilizationprocess as mentioned above.

For CSS systems utilizing automated processes, a robotic automationmechanism is programmed and configured to manipulate relevant objects.Examples of such robotic systems may be found in U.S. Pat. No.7,164,968, titled “Robotic Scrub Nurse,” issued Jan. 16, 2007, which isincorporated by reference in its entirety herein. Under such systems,robotic manipulations for a given process must handle objects in aprescribed manner, and often run into situations where the manner ofmanipulation is beyond the means of the robot. In such cases, additionaldevices are required in order to achieve these goals. A device designedfor such a purpose is said to be robot-ready. Additionally, there areincreasing varieties of surgical instruments having different sizes,shapes, and characteristic features. Certain instruments may be found indifferent states (e.g., open, closed, upside-down) over the course ofthe sterile supply process. Accordingly, it is desirable to have asystem and method for handling various types of instruments regardlessof state, and to be able to transfer the instruments between states.

SUMMARY

As such, an exemplary system and method is disclosed for processing aplurality of surgical instruments for cleaning and/or packaging. Thesystem includes a device for identifying a robot-ready insert, whereinthe insert contains a plurality of surgical instruments in one or morepredetermined areas, and each area of the insert is configured to accepta predetermined set of surgical instrument types. Each of the pluralityof surgical instruments is then removed from the predetermined areasusing an automated apparatus, preferably a robotic arm. An apparatus isalso provided for optically or electrically identifying each of aplurality of surgical instruments. Each of the plurality of surgicalinstruments is then processed so as to perform various functions relatedto cleaning and/or packaging. An automated apparatus, preferably arobotic arm, then orients each of the identified surgical instrument,and places each of the surgical instruments in one or more predeterminedareas of the insert, where each area of the insert is configured toaccept a predetermined set of surgical instrument types.

Specialized tools are also provided for automatically opening andclosing surgical instruments, flipping instruments and assisting in themaintenance of surgical instruments.

Under additional and/or alternate embodiments, a robotic system andcorresponding methods are disclosed for performing the functions of theCSS Department of a hospital, as well as additional functions relatingto trafficking surgical instruments from a point of use to a point ofprocessing for re-use. The robotic system includes the followingcomponents: a robotic arm or other mechanism for physically handling andmoving about the surgical instruments, a machine-vision system to assistin locating and identifying these items, and a software system thatincorporates artificial intelligence capability so that the system mayperform its functions autonomously after receiving guidance from a humanoperator.

The aforementioned robotic system also performs one or more of thefollowing functions: unload surgical instruments or other types of itemsused in surgery from a container, and then clean, identify, inspect,count, sort, and package the instruments and other items. The system mayperform other functions including opening, closing, lubricating,sharpening, and/or demagnetizing instruments or items, as well aspreparing the container of instruments for sterilization by wrapping it.

The robotic system may further perform functions related to reading abar code or other tag device on individual surgical instruments or ontray inserts of surgical instruments. Also, the robotic system may readand/or write RFID tag data or other read-write information device thatmay be affixed to a container of instruments or even to individualinstruments. The robotic system would obtain and process such data asneeded to describe details of individual instrument usage and history,as well as the detailed inventory or list of the instruments or itemsthat have been packaged into the container.

Furthermore, the robotic system may be configured to interface with andupdate a hospital inventory system or database. Using the interface, therobotic system may communicate, process and/or update informationregarding instruments or items that are lost, damaged, needingreplacement, or other data regarding instrument usage (e.g., the numberof times an instrument has been used). The robotic system may also beconfigured to prepare reports relating to instrument or item usage overtime. The robotic system may also accept inputs from surgeons indicatingpreferences for contents of containers and may prepare containers withthe instruments or items. Preferably, all of these functions of therobotic system are under the control of a software artificialintelligence that allows the system to perform its functionsautonomously.

In addition to the robotic system, specially designed inserts forsurgical instrument trays are disclosed. Under an exemplary embodiment,the inserts are configured for the organization of looped instruments,and are designed to encourage users of the system to use the describedextra wide stringer method before the washer/disinfector cycle. Theinsert is further designed to ease the various loading and unloadingprocesses. Use of the extra wide stringer increases the cleaningefficiency of the washer/disinfector and reduces the number of dirtyinstruments making it back to the operating room. Use of the extra widestringer also simplifies the counting and sorting processes.

The aforementioned inserts maintain looped instruments in an orderlyarrangement and enable an insert to be processed by a robotic CSSsystem. A simple easy to use design is necessary to bridge thehuman/robot interface, and usher in automation to an archaic system. Theinserts also allow looped instruments to be presented to operating roomstaff in a more accessible manner.

Further still, additional accessory mechanisms or stations are disclosedthat can be arrayed around the reach of an arm of the robotic system.The additional mechanisms are embodied as special purpose devices thataccomplish exemplary tasks such as opening and closing of ratchetedinstruments, vigorous mechanical roller brush or spray wash cleaning ofinstruments, lubricating hinges or joints, sharpening scissors,demagnetizing instruments, and performing certain physical tests on theinstruments. Also, a special station for reading bar codes or laseretching bar codes onto the instruments may be provided, if required, aswell as a station for reading and writing RFID tags.

Other objects, features, and advantages according to the presentinvention will become apparent from the following detailed descriptionof certain advantageous embodiments when read in conjunction with theaccompanying drawings in which the same components are identified by thesame reference numerals.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a perspective view of a robotic workcell system underan exemplary embodiment;

FIG. 2A illustrates a top view of the workcell system of FIG. 1,configured for dirty side processing under an exemplary embodiment;

FIG. 2B illustrates a top view of the workcell of FIG. 1, configured forclean side processing under an exemplary embodiment;

FIG. 3 shows components of a surgical container known in the art;

FIG. 4 shows a conventional flow process for cleaning and processingsurgical equipment in an associated surgical container;

FIG. 5 shows an exemplary tray insert comprising stringers configuredfor use in the system of FIG. 1;

FIG. 6A-E shows examples of various stringer configurations for theinsert of FIG. 5;

FIG. 7 illustrates another exemplary tray insert for use in the systemof FIG. 1, comprising robot-ready slots;

FIG. 8 illustrates an exemplary robot-ready storage cabinet for use inthe system of FIG. 1, which enables a robot to store and retrieve spareinstruments during reloading;

FIG. 9 illustrates a perspective view of an exemplary instrument closerthat the robot may use to close looped instruments;

FIG. 10 illustrates a perspective view of an exemplary instrument openerthat the robot may use to open looped instruments;

FIG. 11 shows a contoured face detail of a portion of instrument openerillustrated in FIG. 11;

FIG. 12A-E illustrate an exemplary instrument opening process usinginstrument opener shown in FIGS. 10-11;

FIG. 13 is a perspective view of an exemplary instrument flipper used bya robot to flip or turn over instruments;

FIG. 14 is a detail view of the instrument flipper of FIG. 13;

FIG. 15 shows a legend defining symbols used in the exemplary flowchartsillustrated in FIGS. 16-27, as they relate to the system shown in FIG.1;

FIG. 16 is an exemplary flowchart for top-level processes;

FIG. 17 is an exemplary flowchart for sub-processes related to dirtyside processing;

FIG. 18 is an exemplary flowchart for sub-processes related to dirtyside insert processing;

FIG. 19 is an exemplary flowchart for sub-processes related toidentifying instruments;

FIG. 20 is an exemplary flowchart for sub-processes related toinspection of instruments for cleanliness;

FIG. 21 is an exemplary flowchart for sub-processes related to insertreloading;

FIG. 22 is an exemplary flowchart for sub-processes related to cleanside processing;

FIG. 23 is an exemplary flowchart for sub-processes related to cleanside insert processing;

FIG. 24 is an exemplary flowchart for sub-processes related toinstrument inspection;

FIG. 25 is an exemplary flowchart for sub-processes related toinstrument flipping;

FIG. 26 is an exemplary flowchart for sub-processes related toinstrument maintenance; and

FIG. 27 is an exemplary flowchart for sub-processes related toperforming inventory check.

DETAILED DESCRIPTION

FIG. 1 illustrates an automated, robotic CSS workcell system 100 under apreferred embodiment. System 100 comprises an enclosure 101 having oneor more openings 104 for accessing a workspace surface 103. While therobotic workcell enclosure 101 is illustrated as a generally square, orrectangular shape, enclosure 101 could be designed with a cylindricalshape mimicking the robot's operational envelope 203. Additionally, theheight of the enclosure could be minimized to allow vertical stacking ofmultiple robots in situations where floor space is at a premium.

Robotic arm 102 is preferably located in the center of the workspacesurface 103, and is responsible for performing various manipulations toinstruments and/or equipment described below. One example of a roboticarm suitable for use in system 100 is an Adept Viper™ s650 6-axis armproduced by Adept Technologies, Inc. Other suitable arms include “VS” or“VM” series 6-axis arms from DENSO Robotics, or Pro Six PS3 by EpsonRobotics. It is also possible to design and build a custom robotic armfor this purpose. Other types of robotic arms may be used, includingoverhead gantry x-y-z Cartesian robots or SCARA-type robotic arms.Furthermore, more than one type of robotic arm may be employed in someembodiments of the full system.

Robotic arm 102 is equipped with a central computer control system (notshown) that is suitably programmed for directing operations for arm 102.The computer control system may be integrated directly into the armitself, or may be located at a remote location. Arm 102 is also equippedwith a special gripper for handling surgical instruments. In oneembodiment, this gripper may be electromagnetic, but other means tohandle the instruments including mechanical grippers and suctiongrippers may also be used. It is understood that many different types ofgripper or grippers could be attached and even combined with each otheron the basic arm in order to manipulate the surgical instruments.

Workspace surface 103 is configured to be of a suitable size toaccommodate various instruments for identifying, inspecting and countingby system 100. Robotic arm 102 may be in a fixed position, or may bemounted on a moving track or sliding mechanism in order to extend itsreach. In addition, the system 100 may alternately employ conveyor beltsor vibrating tables on workspace 103 to move instruments from onelocation to another. The system may also employ special mechanisms toperform certain tasks such as opening or closing the instruments or evensharpening them as needed. The system also employs means for washing andlubricating the instruments. These means may be ultrasonic agitatorsloaded with baths of cleaning fluid to remove dried blood, etc. from theinstruments. There may also be a bath of lubricating fluid into whichthe instruments may be dipped.

Examples of commercially available devices for maintaining instrumentsare the EdgeCraft ScissorPro™, which can be used as a sharpener.Bench-top demagnetizer from Electro-Matic Products Co. can be used forthat demagnetization duty. A lubricating device would preferablycomprise a solenoid-actuated plunger on a syringe or a small, motorizedpump that would place a drop of oil on a predetermined spot such as thehinge joint of a scissors or hemostat.

As an important part of its functioning, system 100 employs amachine-vision system for identifying, inspecting, counting and sortingthe instruments. Multiple machine-vision cameras 105 would typically beused, to obtain different perspectives on the instruments or to viewdifferent parts of the work-space. Cameras 105 may be situated on oneside of the system enclosure 101, but are preferably installed to havetwo or more angular views of workspace 103. Examples of a type of camerasuitable for system 100 includes a Fire-i™ Digital Camera manufacturedby Unibrain, Inc., and other similar cameras satisfying the IIDC-1394Digital Camera, V1.04 Specification. Additionally, system 100 mayincorporate a barcode reader, or RFID tag reader and/or other means toidentify individual instruments.

Machine-vision and other modalities provide data to the central computercontrol system to enable the computer to count and sort the instrumentsand to produce a detailed inventory of the number and type ofinstruments present in the container. The system software includes areporting module to track all instruments, making note of defects, needto sharpen, or old items that may need to be pulled from service. If theinstruments are individually marked, for example, by bar codes or RFIDtags, then system 100 will track the number of cases in which aparticular instrument has been used and therefore be able to decide if aparticular instrument is in need of maintenance (i.e. sharpening) beforeit is returned to duty.

At the start of processing of a used tray, the system has the capabilityto use its robotic manipulator 102 and gripper to withdraw theinstruments one by one from a used tray that has been brought down fromthe OR. At the end of the cleaning and inspecting process, system 100also has the capability to place the instruments in a predeterminedorderly fashion back into a clean tray. The entire system 100, includingrobotic arm, associated special mechanisms, washing facilities (seeFIGS. 2A-B) and work area are enclosed in a large closed (not shown)cabinet with visual access, so that the CSS staff may observe the properfunctioning of the system, but will also be shielded from accidentalexposure to blood or bodily fluids that are present or the “used”instruments that are being processed. Additionally, the robotic arm 102and other internal mechanisms of the system are implemented in such away that they themselves may be washed down and disinfected by a set ofspray jets located within the cabinet enclosure.

Exemplary top-down views of system workstation 103 are illustrated inFIGS. 2A and 2B. At the center of workstation 103 is a suitablyprogrammed robotic arm 102 that preferably has 360° rotation with alateral reach 203 throughout the workstation 103 to access andmanipulate trays 206, robot-ready inserts 207, and instruments 208 asshown in FIG. 2A. In the examples of FIG. 2A and FIG. 2B, additionalrobot-ready accessories (209-216) may be introduced. Some examples ofrobot-ready accessories include, but are not limited to, an instrumentwasher 209, an ultrasonic cleaner 210, an instrument sharpener 211, aninstrument opener 212, an instrument closer 213, a demagnetizer 214, alubricator 215, and a storage cabinet 216.

An exemplary top-level process flow is shown in FIG. 16 (for reference,the legend for FIGS. 16-27 is shown in FIG. 15). When a dirty containerof instruments from the operating room (or other clinical facility)enters the CSS, personnel remove the trays. Trays can be designated forrobotic processing with a simple label, RFID tag, bar code, or othermethod. CSS Trays so designated are inserted into the dirty side roboticworkcell. All other trays will be processed manually in the usualfashion.

On the dirty side of the CSS under the present disclosure, system 100preferably automates the following functions: identifying the surgicalinstruments; unloading them from specially designed robot-ready inserts;cleaning the instruments; inspecting them for cleanliness; openingand/or closing instruments; reloading the tray inserts; and processingthe inserts through an ultrasonic cleaner.

On the clean side of the CSS, the presently disclosed system preferablyautomates the following functions: identifying the surgical instruments;modifying a count sheet; sorting the instruments; inspecting instrumentsfor mechanical integrity; inspecting instruments for functionality;marking instruments with barcodes or other identifying tags; pullingdefective or unclean instruments; replenishing missing or defectiveinstruments; performing instrument maintenance such as lubricating,sharpening, and demagnetizing; flipping instruments into a preferredorientation; and repacking the tray inserts.

System 100 operates with the use of robot-ready surgical tray inserts.Inserts for surgical trays are organizational tools designed to separatelike instruments or hold instruments in a prescribed fashion. There aremany varieties of inserts across many fields of surgery.

The present tray inserts are designed to achieve three goals. Thesegoals include (a) ease of loading/unloading by a human, (b) ease ofloading/unloading by a robotic manipulator, and (c) proper presentationfor the instruments when in the washer/disinfector. Efforts torobotically automate a process are often thwarted by the difficulty inachieving consistency across the boundary from human control of aprocess to robotic control of a process. The use of custom tray insertsrepresents one potential solution to this problem in the context of theCSS.

One example of an insert is shown in FIG. 5. The illustrated insertfunctions as an organizational tool for looped surgical instruments andcomprises of a body with features including a flat plate 522, multiplestringers 524 on hinges 523, a plurality of pairs of pegs 525, and arobotic gripping point 526. The insert is designed to fit inside ofstandard surgical instrument trays. It is also designed to be stackablewith itself and/or similar inserts that may be designed to hold othertypes of instruments.

Use of the tray insert in FIG. 5 is shown in the photographs of FIG.6(A)-(E). As can be observed from the photographs, the hinged stringersare designed to hold instruments in the extreme open position. There arevaried sizes of looped instruments, so a plurality of stringers arepreferred. When empty of instruments, the stringers may be arranged tolie flat, and thus parallel with the tray (see FIG. 6(A)). In thisposition, they may be latched in place.

The pairs of pegs 525 are designed to hold instruments in the soft closeposition. Looped instruments of any size may fit on the pegs. The pegsmay be used for homogeneous or heterogeneous stacks of instruments. Ahomogeneous stack refers to multiple instances of one type, while aheterogeneous stack refers to multiple instances of several types. Thepositions of pegs 525 on the insert are such that a maximum lengthinstrument is permitted. Excessive length will be indicated by theinstrument hanging off the insert or being obstructed by another objectof the insert. The maximum length may be demarcated by an indentation inthe insert or some other marking.

A preferred use of this style of insert is as follows. Instrumentsshould be loaded onto the hinged stringers at any point prior to thewasher/disinfector stage of the sterilization process. To loadinstruments, a stringer is pulled up into the load/unload position (FIG.6(B)). A physical barrier or another method may be employed to hold thestringer at an approximately vertical position.

The stringer holds itself in the load/unload position, and the loops ofthe instruments should be placed around the lengths of the hingedstringer. Instruments are oriented on the hinged stringer (FIG. 6(C))such that were the stringer returned to the flat position, they wouldpoint upwards. Once all the instruments are loaded, the stringer isreturned to the flat position (FIG. 6(D)). This positions them ideallyfor the washer/disinfector.

Large looped instruments will fit onto the hinged stringers intended forsmaller instruments, but with an open angle less than that correspondingto the extreme open position. Instruments should be loaded onto thelargest hinged stringer they fit on. When the inserts are removed fromthe washer/disinfector, the instruments are unloaded for counting andsorting. To unload the instruments, the stringers are placed in theload/unload position. The instruments are removed from the stringers,and then the stringers are laid flat once again.

As the instruments are counted and sorted, each type of instrument andall of its instances are placed on appropriate pegs (FIG. 6(E)). Whenthis task is completed, the insert can be placed in the tray, and isready for sterilization and use in the OR. An insert advantageous forrobotic use would have a designated gripping point 526 for the robot andhave any of a variety of features allowing them to be manipulated by arobot.

The hinged stringers can also be moved from the flat position to theload/unload position by a robotic manipulator, and designed so a robotcan place an appropriately opened instrument on it when in theload/unload position. Furthermore, The hinged stringer is designed sothat a robotic manipulator can remove an instrument from it when in theload/unload position. The hinged stringers also can be moved from theload/unload position to the flat position by a robotic manipulator. Thepairs of pegs for the insert are designed so a robot can place anappropriately opened instrument on them. The pairs of pegs are alsodesigned so a robot can remove an appropriately placed instrument fromthem.

The insert may be assembled from the following groups of subcomponents:

-   -   A single piece incorporating the tray, peg pairs, and the        hinges. The stringers would be separate entities.    -   A single piece incorporating the tray, peg pairs, and the lower        half of the hinges. The upper half of the hinges and the        stringers would be separate entities.    -   A reconfigurable tray design with separate peg pairs and hinge        assemblies allowing for their placement into custom positions.    -   Any permissible combination of the above.

The hinges (523) may be configured to be tight around the stringer, oralternately loose, allowing the stringer to wobble. This will improvethe flow of the various fluids in and around the hinged stringer duringthe sterilization process. The stringers may be held in the flatposition by any one of the following: ball spring plunger mechanisms,cable/tool clip style snap-in, and/or magnetic attraction. The hingedstringers may also use a spring and latch design. The latch would holdthe stringer in the flat position. When released, the spring wouldreturn the stringer. The methods by which the stringer is held in theflat position could also serve as a barrier to the instruments slidingoff the end of the stringer when in the flat position.

The stringers may incorporate numerous variations, including adjustablewidth, multiple pairs of legs allowing for varied instrument size and/ormultiple stacks of instruments in the soft close position, and curvedlegs to stabilize instruments when rotating stringer.

An alternate embodiment of an insert is shown in FIG. 7. The exemplaryinsert functions as an organizational tool for non-looped instrumentsand comprises a contoured body 732 shaped with slots 733 and a roboticgripping point 734. It is designed to fit inside of standard surgicalinstrument trays and be stackable with itself and similar inserts whichmay be designed to hold other types of instruments.

The slots for the insert of FIG. 7 are varied in size and shape. Topedges of the slots are filleted to facilitate quick loading. The slotsare designed to permit the size/shape of the end-effector of the roboticmanipulator to reach the bottom of the slot in at least one location.When the insert is in a disorganized state, the slots are configured tohave the capacity of holding a variety of instruments. In thedisorganized state, an appropriate slot for a given instrument is onewhich the instrument will fit into while not extending above the top ofthe insert. When the insert is in an organized state, the slots areintended to a hold certain instrument type or group of instrument types.In this state, the instruments pertain to a prescribed slot. Theprescribed type or types may be demarcated by an indented outline of theinstrument or some other marking on or near the slot.

Under an exemplary process of use for the FIG. 7 insert, after use inthe OR, the slotted inserts are considered to be in a disorganizedstate. Instruments may be placed into any appropriate slot. Once theinsert reaches the CSS, the instruments are removed one by one andwashed. The insert is considered to be in a disorganized state and theinstruments may be placed back into any appropriate slot. This is howthey will remain until they are removed from the washer disinfector.

After the washer disinfector, the instruments are counted and sorted.First they are removed from the slots. Once the insert is cleared ofinstruments, it is considered to be in the organized state of use, andthe instruments must be returned to their prescribed slots. When everyinstrument is replaced in the insert, the insert is ready to be replacedinto the surgical instrument tray, which may then be placed in acontainer for sterilization.

An exemplary dirty side processing is detailed in the flowchart in FIG.17, the configuration of which is illustrated in FIG. 2A. Trays areinserted for processing into the robotic workcell's input slot 206.Registration guides ensure that these trays are located in a fixed,repeatable location within the robot's envelope of operation. Afterinserting the tray, the system's door 104 should be closed to secure therobot for safe operation. The automated tray processing is theninitiated by pressing a button or choosing an option from an electronicdisplay.

The robot will then remove the first specially designed insert from thetray and begin processing it, as shown in the flowchart in FIG. 18. Theinsert is made ready for unloading as described above. This involvesraising the robot-ready stringers to the unload position (FIG. 6(C)) ifrequired. A detailed description of the instrument unloading process isincluded below.

As the instruments are unloaded, they are identified. A detaileddescription of this process is included below. An instrumentidentification includes the type of the instrument, such as “KellyClamp” or “Richardson Retractor”. This type is used at various stages ofthe downstream processing. The identification can also include a codedistinguishing each instance of this instrument from the others. Thisinformation can be used downstream to track maintenance schedules andusage statistics.

An instrument opener is used to ensure that looped instruments are inthe soft open position at this point. A detailed description of theinstrument opener is provided below. Soft opening allows the roboticgripper to securely grasp the instrument as it is moved from place toplace. An instrument in the soft open position can be grasped just abovethe hinge so that the two independent hinged sides don't move relativeto one and other while the robot is in motion.

Turning to FIG. 18, the instrument is then inserted into a robot-readyinstrument cleaner for scrubbing and washing. When this process isconcluded, the robot retrieves the cleaned instrument and inspects itfor cleanliness. This process is described in detail below. If theinstrument is found to be unclean, it can be run through the washeragain. The system can be configured to repeat this wash/inspect loop asrequired for a set number of iterations before rejecting the instrumentfor manual processing. When the instrument has been successfullycleaned, the robot stores in the instrument temporary storage area(208). This area should be sufficiently sized to accommodate all theinstruments in one tray insert. As each instrument is stored, itslocation and orientation are stored in memory so that the robot canlater retrieve it.

Once all of the instruments have been cleaned, the insert is reloaded asdescribed in the flowchart of FIG. 21. This process is substantially thereverse of the unloading process descried in detail below. The controlsoftware develops a reload plan specifying the locations and order ofeach instrument in the insert. Reload plans under the preferredembodiment can reflect hospital preferences, desired instrumentorientations, and insert capabilities. For example, looped instrumentscan be reloaded back onto the robot-ready stringers or into robot-readyslots. The former case is preferred for the insert reload on the dirtyside as it best presents the instruments for cleaning in thewasher/disinfector.

The reloaded insert is then placed into an ultrasonic cleaner and/orenzymatic solution bath. This process may take some time so the robot isfree to work on the next insert at this point. When all inserts havebeen processed and reloaded into the tray, dirty side processing iscomplete. The tray may then be removed from the robotic workcell and putin the washer/disinfector.

Unloading/Reloading Robot-Ready Stringers

After removing the insert(s) the robot 102 will removes instruments fromthe robot-ready stringer. The control software commands the robotic armto move to a fixed location just above a left prong of the uprightstringer. Since the location of the insert within the workcell is known,and the dimensions of the insert are known, this location isdeterministic. The control software will then command the arm to move ina straight line directly above the left prong until either the loop ofan instrument or the bottom of the insert is encountered. This event canbe detected with a mechanical “bump” switch on the robot's end-effector,a proximity sensor, using force feedback from the robot's motors, orother means. If distance traveled is equal to the length of the prong,no looped instrument was found on the stringer. Otherwise, the presenceof an instrument will be detected and prepared to be grasped, where therobot's motion may be reversed, pulling the instrument off the stringer.The robot can grasp the instrument by means of an electromagnet force, asuction device, a mechanical grasper, or other means. The robot can thenlay the instrument down and repeat the process until the stringer isempty. Later in the process these robot-ready stringers will bereloaded. This process is the same as above, only in reverse.

Unloading/Reloading Robot-Ready Slots

Instruments without loops are stored in specially shaped slots on theinsert. These slots are designed with a cutout so that the robot'sgripper can descend into the slot to pick up (or drop off) instruments.This process is substantially similar to that described for robot-readystringers above. The control software commands the arm to a point abovethe slot and then along a straight line directly down into the slot. Asbefore, this motion continues until either an instrument or the bottomof the slot is detected. If the distance traveled corresponds to theslot's depth, no instrument was found. Otherwise, the instrument isgrasped and the robot reverses its motion to pull the instrument out ofthe slot. Later in the process these robot-ready slots will be reloaded.This process is the same as above, only in reverse.

Identifying Instruments

The instrument identification process is shown in FIG. 19, where thetype of instrument and/or the unique instance of the instrument can beidentified. There are several identification alternatives. One isthrough an identifying mark on the instrument such as a bar code or RFIDtag. Another technique utilizes machine vision technology to identifythe type of the instrument.

When identifying instruments via a barcode, the robot performs thefunctions of a human scanning the code. There are alternatives designoptions. A standard barcode scanner can be attached to the robot's endeffector. In this scenario the robot will move the scanner over theinstrument to scan it. In another scenario, the robot inserts theinstrument into a stationary version of a standard barcode scanner. Ineither case the robot is programmed with the optimal scanning distance,orientation, and rate so as to improve the successful scan rate.

Instrument identification can alternately be accomplished using a numberof commercially available solutions such as InfoDots™ by Unique MicroDesign, Censitrac™ by Censis Technologies, Inc., and Abacus. Theidentification under the present disclosure may utilize any of thesesolutions and/or any scanner-based barcode or RFID solution. Since thesystem's robotic arm may programmed to mimic a human arm with a handheldscanner, any such system would be suitable. Additionally, physicalinstrument identifications can accomplished by marking instruments usinga commercially available system such as the Synrad™ Co2 Laser MarkingSystem.

Identifying Instruments: Machine Vision

Instrument identification via machine vision relies on well-knownalgorithms known in the art. Commercially available systems include suchproducts as supplied by Cognex™ and MathWorks™, and can be suitablyconfigured to perform these functions. In general, the process includesthe following steps:

-   -   (1) Acquire a single frame of image data from a digital camera;    -   (2) Filter out unwanted portions of the image. This includes        static, fixed areas as well dynamic areas such as the pixels        obscured by the robotic arm as it moves within the vision        system's field-of-view;    -   (3) Separate pixels in the foreground of the image from those in        the known, fixed background;    -   (4) Collect remaining foreground pixels into contiguous regions        called blobs. If these regions are segregated properly, each        blob will correspond to one object;    -   (5) Compute a vector of defining characteristics from each blob.        These characteristics include length, breadth, and mass. Also        compute each blob's center of gravity and orientation; and    -   (6) Compare the characteristic vector for each blob against a        training database of characteristic vectors for all known        objects. If the measured characteristic vector is statistically        close to the training vector, identify the object thusly.

Machine vision is preferably configured to only identify the presenceand type of instrument in question and not the individual instance. Theprocess described above may need to be repeated for other vantage pointssuch as the instrument's side. Some instruments differ only in theamount of curvature at the tip, which is difficult to measure from a topdown image.

In an optional step, after the instrument has been identified by machinevision, the robot can insert the instrument into a specially designedbarcode or RFID marking device. This device will etch or otherwise markthe instrument with a unique identification code so that it can bescanned on subsequent trips through the system.

Opening Instruments

The instrument opener is a device designed to open surgical instrumentswhich have a ratchet lock mechanism. The instrument opener functions byforcibly pushing the two ratchets of the instrument apart. An exemplaryembodiment of a preferred instrument opener is shown in FIGS. 10-12.Turning to FIG. 10, the instrument opener comprises a body 1046, twojaws 1047, having contoured faces 1048, an actuator 1049, and a drivetrain 1050. One jaw of the instrument opener may be stationary, while atleast one jaw is connected to the actuator through the drivetrain. Thesweep of the jaws refers to the three dimensional volume through whichthe movable jaw(s) close. The contoured faces 1048 are opposed to oneanother. As can be seen in FIG. 11 the contoured faces have two levels1151, with the raised level 1152, preferably having less surface areathan the lower level. The faces are arranged rotationally symmetricabout an axis parallel to the z axis of FIG. 10. Once activated, theactuator forces the contoured faces 1048 towards one another.

Turning to FIG. 12, subparts (A)-(E) illustrate an exemplary openingprocess. Instruments to be opened are placed or held such that fingerrings are between the contoured faces of the jaws (FIG. 12(A)). As thejaws close, the raised level of the faces will contact the finger rings(FIG. 12(B)). As the jaws continue to close, a torque resulting from theforces (“F”) applied by the raised level 1152 of the jaws will rotatethe instrument about an axis roughly corresponding to the length of theinstrument. The instrument will rotate (“T”) until the outer edges ofthe finger rings contact the lower level of the corresponding jaw face(FIG. 12(C)). As the jaws continue to close, parallel torques areapplied to each finger ring (FIG. 12(C)). The shafts of the instrumentdeflect in opposite directions, disengaging the teeth of the ratchet(FIG. 12(D)). The spring force stored in the shaft resultant from theforce required to close is no longer impeded by the ratchet, and spreadsthe finger rings apart (FIG. 12(E)).

In addition, the following variations are also possible under alternateexemplary embodiments of the instrument opener.

-   -   The opener body may include a surface coincident with the raised        level of the lower jaw which the instrument to be opened may be        set upon.    -   The opener body may include walls or some other obstruction to        physically limit the distance the finger rings may separate        resulting from the spring force.    -   The actuator may be a solenoid directly driving the upper jaw.    -   The actuator may be a servo motor connected to a linkage        mechanism.

Closing Instruments

The instrument closer (an exemplary embodiment is illustrated in FIG. 9)is a device designed to automatically close hinged surgical instrumentsto a prescribed distance. The task is accomplished by forcing togetherthe finger rings of applicable instruments.

The exemplary device in FIG. 9 is a device for closing ratchet lockinstruments, and comprises a body 938, two jaws 939, a drivetrain 940,and an actuator 941. The main aspects of the body include a surface 942,a backstop 943, and mounts for the actuator and drivetrain 944. One jawmay be stationary, while at least one jaw is connected to the actuatorthrough the drivetrain. The sweep of the jaw(s) refers to the area ofthe surface which may be covered by the jaws at any point of theirmovement 945. The sweep of the jaw(s) should correlate to the shape ofthe backstop.

Instruments to be closed are placed on the surface with both fingerrings in between the jaws, and within the sweep of the jaws. The devicecloses the instrument by lessening the distance between the two jaws.The geometry of the body and jaws 939, combined with the pressure fromthe jaws, ensures the stability of the instrument while closing.

The instrument closer can close a device to a completely closedposition, or alternately to any level of partial closure. If a softclose is required, the device will go to a set distance based on thesize of the instrument and the desired distance between finger rings. Ifit is desired to have a particular number of teeth engaged, the devicewill close to the requisite distance dependent on the instrument sizeand prescribed number of teeth.

In addition to the above, the following variations are envisioned forthe instrument closer.

-   -   The device may use a stepper motor and prescribe a certain        number of steps depending on the desired distance to prescribed        closing.    -   The device may use a servo motor coupled with a controller using        an optical encoder to determine distance closed.    -   The device may use a microphone to listen for the number of        clicks generated by the engagement of the teeth. The microphone        may be piezoelectric and mounted to one of the jaws, or may        alternately be a contact microphone and mounted to one of the        jaws.    -   The device may have a means of measuring the force necessary to        close the instrument, which may include (1) measuring the        current required to maintain a servo at a prescribed speed,        and/or (2) force sensors attached to the jaws.

Inspecting Instruments for Cleanliness

As shown in FIG. 20, machine vision algorithms can be used to inspectinstruments for residual contamination by bodily fluids/tissue debris.Commercially available systems such as those offered by Cognex™ andMathWorks™ can be configured to perform these functions. For eachinstrument type, an image mask identifying likely regions forcontamination is created. These regions may include tips, hinge boxes,teeth, and cannulations. In a process similar to the one described in“Identifying Instruments: Machine Vision” above, the background isremoved from these regions of the image. If a significant number ofpixels remain unfiltered, contamination may be present. Other inspectionmodalities such as special fluorescent lighting or chemo-sensing may beused to detect residual contamination (“bioburden”) on the instruments.

Clean Side Processing

Clean side processing is detailed in the flowchart in FIG. 22. The cleanside configuration relates to the system shown in FIG. 2B. Trays comingout of the washer/disinfector are inserted into the robotic workcell andclean side processing is initiated. The basic functions on the cleanside are substantially identical to those on the dirty side and aredocumented above. In FIG. 23, it may be seen that the processes differafter the “Store Instrument” step.

Instruments are inspected on the clean side in a process detailed inFIG. 24. The first step is to “flip” the instrument if required. Thisensures that the instrument is lying with its preferred side up. Forexample, some instruments have curved tips and the preferred orientationmight have those curved tips facing up. A detailed description of theinstrument flipping process is included below.

The instrument is checked for mechanical integrity by comparing an imageof the instrument to an exemplar template shape for the instrument.Exemplar shapes for each instrument type, such as Hopkins Clamp, aredefined in advance of system usage and define the proper outline for acanonical instrument of each type. The image processing required forthis step is identical to that described in “Identifying Instruments:Machine Vision” above. Mechanical integrity means that no piece of theinstrument is missing or deformed.

Looped instruments can become stiff and difficult to open and close overtime. This can be caused by forceful use, dropping the instrument,accidental impact with another object, or gradual wear on the hinge overtime. If an instrument is difficult or impossible to open, itsfunctional integrity is said to be compromised. Instruments are testedfor functional integrity using the instrument closer shown in FIG. 9 anddescribed in detail above. The closer can measure the force required toclose the instrument. If this force exceeds a configurable threshold,the instrument's functional integrity is compromised.

After inspection, the instrument goes through the routine maintenancefunctions shown the FIG. 26. If the instrument identification includes acode distinguishing the instrument instance, maintenance is based onprevious maintenance history and the number of times the instrument hasbeen used. Otherwise, maintenance can be configured to occur each timean instrument is processed or at a random sampling rate. For eachmaintenance function shown (e.g., sharpening, demagnetizing, andlubricating) the design calls for the use of a commercially availabledevice, modified as little as possible, so as to allow the robot to useit. For example, a commercially available sharpener is used, butmodified as needed to allow the robot to insert and remove theinstrument as a human would. This modification turns devices intorobot-ready accessories.

Once all instruments have been unloaded, an inventory check is performedas shown in FIG. 27. The first step is to discard any instrument thatfailed one of the inspection steps. This results in the actualinstrument list which is then compared to the count sheet. Anyinstruments in the actual list, but not on the count sheet are extra andare discarded. This can occur if the instruments we not packed in theproper containers in the OR or if the count sheet specification waschanged by management. Instruments on the count sheet, but not in theactual instrument list are missing and must be replenished. A databaseof instrument spares indicates if the robot-ready storage cabinet(described in detail below) contains an appropriate spare. If no suchspare exists, the operator is notified.

After the inventory check, the insert is reloaded. As described above,the reload plan developed here may use the robot-ready stringers or thepins on the insert. This is a matter of hospital preference. When allinserts have been processed and reloaded into the tray, clean sideprocessing is complete. The tray may then be removed from the roboticworkcell and put in a container to go in the autoclave.

Flipping Instruments

An exemplary process for flipping an instrument is shown in FIG. 25. Adatabase of preferred profiles is maintained for each instrument type.This is preferably a sorted list of valid orientations for theinstrument. The first profile in the list is a desired orientation.These preferred profiles are equivalent to the exemplar shapes discussedin regard to mechanical integrity inspection above. Using the sameprocess, a digital image of the instrument is taken and compared to thepreferred profile. If more than one profile is known for the instrumentand the image taken of the instrument does not match the preferredprofile, the instrument is flipped.

An exemplary instrument flipper is illustrated in FIGS. 13 and 14. Theflipper is a device designed to securely grasp and flip surgicalinstruments. A preferred embodiment of the instrument flipper consistsof a body 1158, two plates: first plate 1159 and second plate 1160, adrivetrain 1161 and an actuator 1162. The main components of the bodyinclude base 1163 and mounting blocks 1164 for the actuator anddrivetrain. Each plate is fixed to one of two concentric axles of thedrivetrain. The plates are radially offset from the axles by a distanced (see FIG. 14). In the resting state, the plates are parallel with thebase. The plates have a soft rubber surface which help for securing theinstrument as well as allowing variation of instrument thickness.

The instrument to be flipped is placed on plate with its finger ringspointing towards the axle. The drivetrain 1161 transmits power to theplates in a prescribed sequence and direction. First, second plate 1160rotates 180° to meet with first plate 1159. The instrument is secured bythe pressure from the soft rubber material (not shown) of both plates.Second, the both plates are rotated simultaneously 180° in the samedirection, such that second plate 1160 is in it resting state. At thisstage, the instrument has been flipped. Finally, first plate 1159rotates 180° back to its resting state revealing the flipped instrumentnow resting on second plate 1160. This completes the flipping processand renders the device prepared for the next flipping.

Robot-Ready Storage Cabinet

An exemplary robot-ready storage cabinet (see FIG. 2B, 216) is a sparescache accessible by the robot. A perspective view of the robot-readystorage cabinet is shown in FIG. 8. It is comprised of a metal frame 835holding a number of motorized drawers 836. Each drawer contains a insertpre-loaded with spare instruments. A motor on each drawer 837 can beactuated to open the drawer. The control software maintains a databaseof the spares located in each drawer and can actuate a particular drawerto open when a particular spare is needed. When open, the drawers arewithin the robot's operation envelope (See FIG. 2B, 203). After openingthe proper drawer, the control software commands the robotic arm toretrieve the needed spare from the appropriate slot using the processdescribed in “Unloading/Reloading Robot-Ready Slots” above. The controlsoftware then commands the drawer closed.

Although various embodiments of the present invention have beendescribed with reference to a particular arrangement of parts, featuresand the like, these are not intended to exhaust all possiblearrangements or features, and indeed many other embodiments,modifications and variations will be ascertainable to those of skill inthe art.

1. A robot-ready tray insert, comprising: a plate; at least one hingedstringer coupled to a surface of the plate, wherein the at least onehinged stringer is configured to accept and secure looped surgicalinstruments in a first position; a plurality of pegs coupled to thesurface of the plate, wherein the pegs are configured to accept otherlooped surgical instruments in a second position; and a robotic grippingpoint located on the surface of the plate for allowing roboticmanipulation of the tray insert.
 2. The robot-ready tray insertaccording to claim 1, wherein the plate is configured to allow at leastone other insert to be stacked on top of the robot-ready insert.
 3. Therobot-ready insert tray according to claim 1, wherein the first positionis an extreme open position.
 4. The robot-ready insert according toclaim 1, wherein the second position is a soft close position.
 5. Therobot-ready insert according to claim 1, wherein the other loopedsurgical instruments comprise a stack of a plurality of one type ofinstrument.
 6. The robot-ready insert according to claim 1, wherein theother looped surgical instruments comprise a stack of a plurality of atleast two different types of instruments.
 7. A robot-ready tray insertaccording to claim 1, comprising: a contoured body comprising aplurality of slots of different shapes for allowing robotic access tothe tray insert to place and retrieve non-looped surgical instruments,wherein the top edges of the slots are filleted; and a robotic grippingpoint located on the surface of the contoured body for allowing roboticmanipulation of the tray insert.
 8. A storage cabinet for surgicalinstruments, comprising: a plurality of stacked robotic-ready trayinserts, wherein each of the tray inserts comprises a plate having atleast one hinged stringer coupled to a surface of the plate, and whereinthe at least one hinged stringer stores looped surgical instruments in afirst position; a plurality of pegs coupled to the surface of the plate,wherein the pegs are configured to store other looped surgicalinstruments in a second position; and a robotic gripping point locatedon the surface of the plate for allowing robotic removal of the trayinsert from the storage cabinet.
 9. The storage cabinet of claim 8 forsurgical instruments, comprising: a plurality of stacked robotic-readytray inserts, wherein each of the tray inserts comprises a contouredbody having a plurality of slots of different shapes for allowingrobotic access to the tray insert to place and retrieve non-loopedsurgical instruments, wherein the top edges of the slots are filleted,and a robotic gripping point located on the surface of the contouredbody for allowing robotic removal of the tray insert from the storagecabinet.
 10. A method for processing a plurality of surgical instrumentsfor cleaning, comprising the steps of: identifying an insert having apredetermined configuration for accepting at least one type of surgicalinstrument; identifying each type of a plurality of surgical instrumentsusing an optical apparatus; orienting each of the identified surgicalinstrument types using an automated apparatus; placing each of thesurgical instrument types in one or more predetermined areas of theinsert using the automated apparatus, wherein each area of the insert isconfigured to accept one type of surgical instrument; wherein thesurgical instrument types are placed in the insert according to apredetermined loading plan.
 11. A system for processing a plurality ofsurgical instruments for cleaning, comprising: a device for identifyingan insert, wherein the insert has a predetermined configuration foraccepting at least one type of surgical instrument; an optical apparatusfor identifying each type of a plurality of surgical instruments; anautomated apparatus for orienting each of the identified surgicalinstrument types, and placing each of the surgical instrument types inone or more predetermined areas of the insert, wherein each area of theinsert is configured to accept one type of surgical instrument; whereinthe surgical instrument types are placed in the insert according to apredetermined loading plan.
 12. A system for processing a plurality ofsurgical instruments for cleaning, comprising the steps of a device foridentifying an insert, wherein the insert has a predeterminedconfiguration for accepting at least one type of surgical instrument; anapparatus for electrically identifying each type of a plurality ofsurgical instruments; an automated apparatus for orienting each of theidentified surgical instrument types, and placing each of the surgicalinstrument types in one or more predetermined areas of the insert,wherein each area of the insert is configured to accept one type ofsurgical instrument.